Vehicular trailer guidance system

ABSTRACT

A vehicular trailer guidance system includes an electronic control unit (ECU), a plurality of vehicle cameras and at least one trailer camera including a rear trailer camera disposed at a rear portion of a trailer hitched to the vehicle. A display screen is disposed in the vehicle and viewable by a driver of the vehicle. The display screen displays video images derived from captured image data, with the displayed video images including bird&#39;s-eye view images of a region at least partially surrounding the vehicle and trailer including an area rearward of the trailer hitched to the vehicle. During a reversing maneuver, and via processing of captured image data, an instruction for maneuvering the vehicle and trailer in reverse toward a target location is generated by the ECU. The generated instruction includes at least an instruction pertaining to steering of the vehicle during the reversing maneuver.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 16/166,197, filed Oct. 22, 2018, now U.S. Pat. No. 10,899,385,which claims the filing benefits of U.S. provisional application Ser.No. 62/575,653, filed Oct. 23, 2017, which is hereby incorporated hereinby reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle to assist in maneuvering the vehiclewith a trailer attached at the vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties. It is also known to use camerasto assist in hitching a vehicle to a trailer and/or in determining atrailer angle of a trailer relative to a vehicle. Examples of such knownsystems are described in U.S. Pat. Nos. 9,085,261 and/or 6,690,268,which are hereby incorporated herein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a trailer maneuver assist system for avehicle that utilizes one or more cameras to capture image datarepresentative of images exterior and rearward of the vehicle andtrailer towed by the vehicle, and to provide instructions and displaysto assist the driver of the vehicle in maneuvering the vehicle andtrailer along a determined path of travel and toward a target location.The system displays a bird's-eye view image of the vehicle and trailerand area rearward of the trailer and the user selects a target locationor indicates a desired path of travel of the vehicle and trailer. Thesystem displays iconistic representations of the vehicle and trailer andof the vehicle steering wheel to provide instructions to the driver ofthe vehicle as to which way to turn the steering wheel (and how much toturn the steering wheel) to maneuver the vehicle and trailer along aselected path toward a target destination. The system may generate analert when the trailer angle exceeds a threshold amount so that thedriver of the vehicle can avoid a jackknife condition. The system thusprovides dynamic guidance to the driver of the vehicle during thereversing maneuver of the vehicle and trailer to assist the driver inmaneuvering the vehicle to follow the selected path toward the target ordestination location.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a trailer maneuver assist systemthat is operable to control or guide the vehicle and to reverse thevehicle and trailer toward and into a selected location in accordancewith the present invention;

FIG. 2 is a displayed image based on image data captured by a left sidecamera, a rear camera and a right side camera, showing the trailerbehind the vehicle;

FIG. 3 is a displayed image similar to FIG. 2 , showing the trailerbehind and turning toward the left side of the vehicle;

FIG. 4 is a displayed image similar to FIG. 3 , showing the trailerbehind and turning more toward the left side of the vehicle;

FIG. 5 is a displayed image based on image data captured by a left sidecamera, a rear backup camera, a rear CHMSL camera and a right sidecamera, showing the trailer behind the vehicle;

FIGS. 6-10 are display images showing a top view of the vehicle andtrailer and showing the trailer angle and different zones of trailerangles, and showing a steering wheel with directional arrows to instructthe driver of the vehicle to turn the steering wheel to maneuver thevehicle and trailer along the selected path; and

FIG. 11 is a view of the scene map and top view of the vehicle andtrailer as displayed by a display screen to allow the user to select orindicate a desired path of travel of the vehicle and trailer, with thedisplay including a steering wheel with directional arrows and/or textinstructions to instruct the driver of the vehicle to turn the steeringwheel to maneuver the vehicle and trailer along the selected path.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle and trailer maneuver guidance system and/or driving assistsystem operates to capture image data of the scene exterior of thevehicle and trailer being towed by the vehicle and may process thecaptured image data to determine a path of travel for the vehicle andtrailer and to detect objects at or near the vehicle and in thepredicted or selected path of the vehicle, such as to assist a driver ofthe vehicle in maneuvering the vehicle and trailer in a rearwarddirection. The vision system includes an image processor or imageprocessing system that is operable to receive image data from one ormore cameras and may provide an output to a display device fordisplaying images representative of the captured image data. The visionsystem provides display, such as a rearview display or a top down orbird's eye or surround view display or the like, of images derived fromthe captured image data and with iconistic representations of thetrailer and/or vehicle and/or vehicle steering wheel to assist thedriver in maneuvering the vehicle and trailer, such as during areversing maneuver.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes a trailer maneuver guidance system 12that is operable to guide the driver in maneuvering the vehicle 10 andtrailer 14 toward a desired or selected location. The trailer maneuverguidance system 12 includes at least one exterior viewing vehicle-basedimaging sensor or camera, such as a rearward viewing imaging sensor orcamera 16 (and the system may optionally include multiple exteriorviewing imaging sensors or cameras, such as a sideward/rearward viewingcamera 18, 20 at respective sides of the vehicle), and a rearwardviewing trailer-based camera 22, which capture image data representativeof the respective scene exterior of the vehicle and trailer and in therespective field of view, with the cameras each having a lens forfocusing images at or onto an imaging array or imaging plane or imagerof the cameras (FIG. 1 ). The rear camera may comprise a rear backupcamera (disposed at or near a rear bumper of the vehicle) or a CHMSL(center high mounted stop lamp) located camera or other high-mountedcamera disposed at an upper region of the vehicle and viewing rearwardof the vehicle. Optionally, a forward viewing camera may be disposed atthe windshield of the vehicle and view through the windshield andforward of the vehicle, such as for a machine vision system (such as fortraffic sign recognition, headlamp control, pedestrian detection,collision avoidance, lane marker detection and/or the like).

The trailer maneuver guidance system 12 includes a control or electroniccontrol unit (ECU) or processor that is operable to process image datacaptured by the camera or cameras and may detect objects or the likeand/or provide displayed images at a display device for viewing by thedriver of the vehicle (the control and/or display device may be part ofor incorporated in or at an interior rearview mirror assembly of thevehicle, or the control and/or the display device may be disposedelsewhere at or in the vehicle). The data transfer or signalcommunication from the cameras (including the trailer camera) to the ECUmay comprise any suitable data or communication link, such as a vehiclenetwork bus or the like of the equipped vehicle. The image data capturedby the trailer camera may be wirelessly communicated to a receiver atthe vehicle and communicated from the receiver to the ECU (such as viathe vehicle network bus or the like) or the receiver may be at or partof the ECU.

The system of the present invention is operable to provide safe guidanceto the user while driving a vehicle with a trailer attached, especiallywhen backing up the vehicle with the trailer. The system generates anddisplays images or views that follow the trailer continuously, with theviews generated to assist the user in avoiding any collisions. Thesystem provides sound/display/haptic alerts when the trailer is nearerto another object or vehicle to avoid trailer and vehicle or truck orobject collision. The system displays the position of the trailer withrespect to the towing vehicle, and the system provides dynamic guidanceto the user during a reversing maneuver with the trailer to reachhis/her destination point.

The system provides active trailer views (see FIGS. 2-5 ) and usestrailer angle detection or determination for seamless and continuoustrailer view panning. The feature generates trailer panoramic views(TPV) by embedding images derived from image data captured by the rearview camera and CHMSL camera between images derived from image datacaptured by the opposite side view cameras to avoid any blind spots. Thesystem provides the option of a slide to pan or swipe to pan the trailerpanoramic views. The system also or otherwise provides a digital zoomin/out option.

As shown in FIGS. 6-10 , the system displays the true trailer angle witha jackknife overlay and/or with different zones of turning angles towarn the driver when the trailer is approaching a jackknife condition.For example, the display may display zones that encompass trailer anglesof a particular range, such as 15 degrees or 30 degrees or 22.5 degreesor the like, whereby the driver, when viewing the displayed images andoverlayed or superimposed zones, can readily discern an estimation ofthe angle of the trailer relative to the vehicle, and can readily see ifthe trailer angle is approaching an angle close to or indicative of atrailer jackknifing condition. The system estimates the direction of thetrailer based on the direction and angle of the towing vehicle steeringwheel angle, and the system provides the projected direction of thetrailer during backup. The system also displays the jackknife zones ofthe trailer, and may provide a jackknife warning (FIG. 10 , where thezone may be shown in red and/or flashed or otherwise highlighted) whenthe trailer is at or approaching or in a potential jackknife situation.As shown in FIGS. 6-10 , the system displays a top down view of thevehicle and trailer (and may display an avatar of a vehicle andtrailer), showing the trailer angle during the driving maneuver.Optionally, for example, the zones (see FIGS. 7 and 9 ) near the center(where the trailer may be angled less than 15 degrees relative to thevehicle) may be shown in green, with further angled zones (see FIG. 8 )being displayed in yellow and jackknifing zones (see FIG. 10 ) displayedin red. The display may include an iconistic representation of asteering wheel of the vehicle with steering directions to instruct thedriver as to which direction to turn the steering wheel in order tosteer and maneuver the vehicle and trailer along the selected path.

The system is operable to determine or estimate the width of the trailervia processing of image data captured by one or more of the vehiclecameras. The system may also determine or estimate the height of thetrailer via processing of image data captured by one or more of thevehicle cameras. The system may also determine or estimate the length ofthe trailer via processing of image data captured by one or more of thevehicle cameras.

The system provides sound/display alerts and/or haptic feedback when thetrailer is closer to any object including the towing vehicle during thereversing maneuver. The system provides “see through trailer” views bydisplaying images derived from image data captured by a trailer mountedcamera (such as the trailer camera 22 in FIG. 1 ), when such a camera isavailable at back of the trailer. The camera may be fixed at the back ofthe trailer or may comprise a remote camera.

Optionally, and such as shown in FIG. 11 , the system allows the user toselect a trailer destination location at the display screen (such as ata center stack display or at an instrument cluster display), whichdisplays the vehicle and trailer and the surroundings via a trailer topview. The system allows the user to draw a path towards the destinationlocation, and allows the user to hold onto a camera position relative tothe trailer in which the user wants to direct the trailer. The systemplans the path with calculated way points to reach the user-selectedlocation.

The system guides the user by providing instructions as to the amount ofsteering angle rotation and speed required to at each way point alongthe path so as to maneuver the vehicle and trailer toward and to thedestination location. For example, the system may display arepresentation of the steering wheel and may provide instructions suchas, for example, “turn steering angle by 15 degrees to the right” or thelike. Optionally, the system may generate an alert or indication orfeedback responsive to determination that the driver has steered orturned the steering wheel the appropriate amount in the appropriatedirection.

The system plans the path in such way that the trailer never enters intothe Jackknife zones. The system suggests an alternative path if the pathselected by the user is not possible for the trailer maneuver because ofany reason, such as obstructions or terrain or curves or the like.

The system automatically selects the views based on the way points andthe relative position of the trailer with respect to the towing vehicle.The system generates a trailer top view (FIG. 11 ) with/without a cameraat back of the trailer.

Optionally, the system may integrate the vehicle and trailer positionwith a navigation map system of the vehicle.

The system provides haptic feedback and/or visual cues when the driverturns the steering wheel and it arrives at the instructed steering wheelposition, when the trailer is moving or turning in the correct directionvs. wrong direction, when the speed of the vehicle is appropriate orinappropriate (e.g., too fast for the turns in the path), and/or whenthe vehicle and/or trailer arrive at the designated way points. Thus,the driver is informed via such cues or alerts throughout the reversingmaneuver and as the driver steers and controls the vehicle correctly orincorrectly to follow the target path.

The visual cues that the system may provide include an overlay for thedesired steering angle value with the actual steering angle at each ofthe way points, or an overlay for the speed required to travel along thepath (e.g., an overlay indicating to the driver to stop, slow down, oraccelerate). Optionally, the system may provide dynamic calculation ofwaypoints when the user misses a current or determined way point. Thesystem may provide overlays to indicate the success (or failure) inreaching the way points and/or destination. The system may display theprojected trailer position based on the current speed and steering angleof the vehicle steering wheel.

Therefore, the system of the present invention displays views showingthe trailer angle relative to the vehicle and provides instructions tothe driver as to how much to turn the steering wheel so that the trailerand vehicle follow a target path to a desired or target destination. Thesystem may provide alerts when the trailer is off-target and/or when thetrailer is approaching a jackknife condition, such that the driver cancorrect the steering and maneuver the vehicle and trailer toward thetarget destination.

The system may utilize aspects of the trailering or trailer angledetection systems or trailer hitch assist systems described in U.S. Pat.Nos. 9,085,261 and/or 6,690,268, and/or U.S. Publication Nos.US-2018-0276839; US-2018-0276838; US-2018-0253608; US-2018-0215382;US-2018-0211528; US-2017-0254873; US-2017-0217372; US-2017-0050672;US-2015-0217693; US-2014-0160276; US-2014-0085472 and/orUS-2015-0002670, and/or U.S. patent application Ser. No. 16/110,575,filed Aug. 23, 2018 and published Feb. 28, 2019 as U.S. Publication No.US-2019-0064831, and/or Ser. No. 16/033,416, filed Jul. 12, 2018, nowU.S. Pat. No. 10,532,698, and/or U.S. provisional application Ser. No.62/685,309, filed Jun. 15, 2018, which are hereby incorporated herein byreference in their entireties.

The system may utilize aspects of the parking assist systems describedin U.S. Pat. No. 8,874,317 and/or U.S. Publication Nos. US-2017-0329346;US-2017-0317748; US-2017-0253237; US-2017-0050672; US-2017-0017847;US-2017-0015312 and/or US-2015-0344028, which are hereby incorporatedherein by reference in their entireties.

The cameras or sensors may comprise any suitable cameras or sensors.Optionally, one or more of the cameras may comprise a “smart camera”that includes the imaging sensor array and associated circuitry andimage processing circuitry and electrical connectors and the like aspart of a camera module, such as by utilizing aspects of the visionsystems described in International Publication Nos. WO 2013/081984and/or WO 2013/081985, which are hereby incorporated herein by referencein their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise animage processing chip selected from the EYEQ™ family of image processingchips available from Mobileye Vision Technologies Ltd. of Jerusalem,Israel, and may include object detection software (such as the typesdescribed in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, whichare hereby incorporated herein by reference in their entireties), andmay analyze image data to detect vehicles and/or other objects.Responsive to such image processing, and when an object or other vehicleis detected, the system may generate an alert to the driver of thevehicle and/or may generate an overlay at the displayed image tohighlight or enhance display of the detected object or vehicle, in orderto enhance the driver's awareness of the detected object or vehicle orhazardous condition during a driving maneuver of the equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 9,233,641;9,146,898; 9,174,574; 9,090,234; 9,077,098; 8,818,042; 8,886,401;9,077,962; 9,068,390; 9,140,789; 9,092,986; 9,205,776; 8,917,169;8,694,224; 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935;6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229;7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287;5,929,786 and/or 5,786,772, and/or U.S. Publication Nos.US-2014-0340510; US-2014-0313339; US-2014-0347486; US-2014-0320658;US-2014-0336876; US-2014-0307095; US-2014-0327774; US-2014-0327772;US-2014-0320636; US-2014-0293057; US-2014-0309884; US-2014-0226012;US-2014-0293042; US-2014-0218535; US-2014-0218535; US-2014-0247354;US-2014-0247355; US-2014-0247352; US-2014-0232869; US-2014-0211009;US-2014-0160276; US-2014-0168437; US-2014-0168415; US-2014-0160291;US-2014-0152825; US-2014-0139676; US-2014-0138140; US-2014-0104426;US-2014-0098229; US-2014-0085472; US-2014-0067206; US-2014-0049646;US-2014-0052340; US-2014-0025240; US-2014-0028852; US-2014-005907;US-2013-0314503; US-2013-0298866; US-2013-0222593; US-2013-0300869;US-2013-0278769; US-2013-0258077; US-2013-0258077; US-2013-0242099;US-2013-0215271; US-2013-0141578 and/or US-2013-0002873, which are allhereby incorporated herein by reference in their entireties. The systemmay communicate with other communication systems via any suitable means,such as by utilizing aspects of the systems described in InternationalPublication Nos. WO 2010/144900; WO 2013/043661 and/or WO 2013/081985,and/or U.S. Pat. No. 9,126,525, which are hereby incorporated herein byreference in their entireties.

The system may utilize sensors, such as radar or lidar sensors or thelike. The sensing system may utilize aspects of the systems described inU.S. Pat. Nos. 9,753,121; 9,689,967; 9,599,702; 9,575,160; 9,146,898;9,036,026; 8,027,029; 8,013,780; 6,825,455; 7,053,357; 7,408,627;7,405,812; 7,379,163; 7,379,100; 7,375,803; 7,352,454; 7,340,077;7,321,111; 7,310,431; 7,283,213; 7,212,663; 7,203,356; 7,176,438;7,157,685; 6,919,549; 6,906,793; 6,876,775; 6,710,770; 6,690,354;6,678,039; 6,674,895 and/or 6,587,186, and/or International PublicationNo. WO 2011/090484 and/or U.S. Publication Nos. US-2017-0276788;US-2017-0254873; US-2017-0222311 and/or US-2010-0245066, which arehereby incorporated herein by reference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device, such as by utilizing aspects of the video displaysystems described in U.S. Pat. Nos. 5,530,240; 6,329,925; 7,855,755;7,626,749; 7,581,859; 7,446,650; 7,338,177; 7,274,501; 7,255,451;7,195,381; 7,184,190; 5,668,663; 5,724,187; 6,690,268; 7,370,983;7,329,013; 7,308,341; 7,289,037; 7,249,860; 7,004,593; 4,546,551;5,699,044; 4,953,305; 5,576,687; 5,632,092; 5,708,410; 5,737,226;5,802,727; 5,878,370; 6,087,953; 6,173,501; 6,222,460; 6,513,252 and/or6,642,851, and/or U.S. Publication Nos. US-2014-0022390;US-2012-0162427; US-2006-0050018 and/or US-2006-0061008, which are allhereby incorporated herein by reference in their entireties. Optionally,the vision system (utilizing a forward viewing camera and a rearwardviewing camera and other cameras disposed at the vehicle with exteriorfields of view) may be part of or may provide a display of a top-downview or bird's-eye view system of the vehicle or a surround view at thevehicle, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2010/099416; WO 2011/028686; WO2012/075250; WO 2013/019795; WO 2012/075250; WO 2012/145822; WO2013/081985; WO 2013/086249 and/or WO 2013/109869, and/or U.S.Publication No. US-2012-0162427, which are hereby incorporated herein byreference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

The invention claimed is:
 1. A vehicular trailer guidance system, thevehicular trailer guidance system comprising: an electronic control unit(ECU) disposed at a vehicle, the ECU comprising a processor; a pluralityof vehicle cameras comprising (i) a rear vehicle camera disposed at arear portion of the vehicle and having a field of view at least rearwardof the vehicle, (ii) a driver-side vehicle camera disposed at a driverside of the vehicle and having a field of view at least sideward of thevehicle and (iii) a passenger-side vehicle camera disposed at apassenger side of the vehicle and having a field of view at leastsideward of the vehicle; at least one trailer camera comprising at leasta rear trailer camera disposed at a rear portion of a trailer hitched tothe vehicle, wherein the rear trailer camera has a field of view atleast rearward of the trailer; wherein image data captured by theplurality of vehicle cameras and the at least one trailer camera isprovided to the ECU for processing at the ECU; a display screen disposedin the vehicle and viewable by a driver of the vehicle, wherein thedisplay screen displays video images derived from image data captured bythe at least one trailer camera and at least one of the vehicle cameras,and wherein the displayed video images comprise bird's-eye view videoimages of a region exterior of the vehicle and of the trailer thatincludes an area rearward of the trailer hitched to the vehicle;wherein, via processing at the ECU of image data captured by at leastthe rear trailer camera and at least one of the plurality of vehiclecameras, an instruction for maneuvering the vehicle and trailer inreverse toward a target location is generated by the ECU; and whereinthe generated instruction includes at least an instruction pertaining tosteering of the vehicle during a reversing maneuver.
 2. The vehiculartrailer guidance system of claim 1, wherein the ECU, via processing atthe ECU of image data captured by at least some of the plurality ofvehicle cameras and the at least one trailer camera, detects objectsalong a determined target path of the vehicle and trailer.
 3. Thevehicular trailer guidance system of claim 1, wherein the vehiculartrailer guidance system displays zones of trailer angles, and wherein,during the reversing maneuver of the vehicle and the trailer, the driverof the vehicle, viewing the displayed zones of trailer angles and theimages representative of the vehicle and the trailer, is aware of thetrailer angle relative to the vehicle.
 4. The vehicular trailer guidancesystem of claim 3, wherein the display screen displays an alert when thetrailer angle is approaching a jackknife zone.
 5. The vehicular trailerguidance system of claim 1, wherein the generated instruction comprisesan instruction for the driver of the vehicle to follow to guide thedriver of the vehicle during the reversing maneuver.
 6. The vehiculartrailer guidance system of claim 5, wherein the ECU determines waypointsalong a determined target path toward the target location and providesan instruction to the driver for maneuvering the vehicle and the trailerin reverse toward the next waypoint.
 7. The vehicular trailer guidancesystem of claim 5, wherein the generated instruction includes aninstruction pertaining to turning a steering wheel of the vehicle. 8.The vehicular trailer guidance system of claim 7, wherein the generatedinstruction includes an iconistic representation of the steering wheeland a directional arrow indicating a direction the driver is to turn thesteering wheel to maneuver the vehicle and trailer during the reversingmaneuver.
 9. The vehicular trailer guidance system of claim 8, whereinthe generated instruction includes a text instruction.
 10. The vehiculartrailer guidance system of claim 7, wherein the generated instructionincludes an instruction pertaining to a direction to turn the steeringwheel of the vehicle during the reversing maneuver.
 11. The vehiculartrailer guidance system of claim 10, wherein the generated instructionincludes an instruction pertaining to an amount for the driver to turnthe steering wheel of the vehicle in the indicated direction during thereversing maneuver.
 12. The vehicular trailer guidance system of claim10, wherein the generated instruction includes an instruction to turnthe steering wheel clockwise or counterclockwise.
 13. The vehiculartrailer guidance system of claim 1, wherein the generated instruction isgenerated responsive to the driver selecting a target path from a startpoint displayed in the displayed video images to an end point displayedin the displayed video images.
 14. The vehicular trailer guidance systemof claim 13, wherein the display screen comprises a touch sensor screen,and wherein the driver selects the target path by moving his or herfinger at the displayed video images.
 15. A vehicular trailer guidancesystem, the vehicular trailer guidance system comprising: an electroniccontrol unit (ECU) disposed at a vehicle, the ECU comprising aprocessor; a plurality of vehicle cameras comprising (i) a rear vehiclecamera disposed at a rear portion of the vehicle and having a field ofview at least rearward of the vehicle, (ii) a driver-side vehicle cameradisposed at a driver side of the vehicle and having a field of view atleast sideward of the vehicle and (iii) a passenger-side vehicle cameradisposed at a passenger side of the vehicle and having a field of viewat least sideward of the vehicle; at least one trailer camera comprisingat least a rear trailer camera disposed at a rear portion of a trailerhitched to the vehicle, wherein the rear trailer camera has a field ofview at least rearward of the trailer; wherein image data captured bythe plurality of vehicle cameras and the at least one trailer camera isprovided to the ECU for processing at the ECU; wherein the ECU, viaprocessing at the ECU of image data captured by at least some of theplurality of vehicle cameras and the at least one trailer camera,detects objects rearward of the trailer hitched to the vehicle; adisplay screen disposed in the vehicle and viewable by a driver of thevehicle, wherein the display screen displays video images derived fromimage data captured by the at least one trailer camera and at least oneof the vehicle cameras, and wherein the displayed video images comprisebird's-eye view video images of a region exterior of the vehicle and ofthe trailer that includes an area rearward of the trailer hitched to thevehicle; wherein, via processing at the ECU of image data captured by atleast the rear trailer camera and at least one of the plurality ofvehicle cameras, an instruction for maneuvering the vehicle and trailerin reverse toward a target location is generated by the ECU; wherein thegenerated instruction comprises an instruction for the driver of thevehicle to follow to guide the driver of the vehicle during a reversingmaneuver; and wherein the generated instruction includes an iconisticrepresentation of the steering wheel and a directional arrow indicatinga direction the driver is to turn the steering wheel to maneuver thevehicle and trailer during the reversing maneuver.
 16. The vehiculartrailer guidance system of claim 15, wherein the vehicular trailerguidance system displays zones of trailer angles, and wherein, duringthe reversing maneuver of the vehicle and the trailer, the driver of thevehicle, viewing the displayed zones of trailer angles and the imagesrepresentative of the vehicle and the trailer, is aware of the trailerangle relative to the vehicle.
 17. The vehicular trailer guidance systemof claim 16, wherein the display screen displays an alert when thetrailer angle is approaching a jackknife zone.
 18. The vehicular trailerguidance system of claim 15, wherein the ECU determines waypoints alonga determined target path toward the target location and provides aninstruction to the driver for maneuvering the vehicle and the trailer inreverse toward the next waypoint.
 19. The vehicular trailer guidancesystem of claim 15, wherein the generated instruction includes a textinstruction.
 20. The vehicular trailer guidance system of claim 15,wherein the generated instruction includes an instruction pertaining toan amount for the driver to turn the steering wheel of the vehicle inthe indicated direction during the reversing maneuver.
 21. A vehiculartrailer guidance system, the vehicular trailer guidance systemcomprising: an electronic control unit (ECU) disposed at a vehicle, theECU comprising a processor; a plurality of vehicle cameras comprising(i) a rear vehicle camera disposed at a rear portion of the vehicle andhaving a field of view at least rearward of the vehicle, (ii) adriver-side vehicle camera disposed at a driver side of the vehicle andhaving a field of view at least sideward of the vehicle and (iii) apassenger-side vehicle camera disposed at a passenger side of thevehicle and having a field of view at least sideward of the vehicle; atleast one trailer camera comprising at least a rear trailer cameradisposed at a rear portion of a trailer hitched to the vehicle, whereinthe rear trailer camera has a field of view at least rearward of thetrailer; wherein image data captured by the plurality of vehicle camerasand the at least one trailer camera is provided to the ECU forprocessing at the ECU; wherein the ECU, via processing at the ECU ofimage data captured by at least some of the plurality of vehicle camerasand the at least one trailer camera, detects objects rearward of thetrailer hitched to the vehicle; a display screen disposed in the vehicleand viewable by a driver of the vehicle, wherein the display screendisplays video images derived from image data captured by the at leastone trailer camera and at least one of the vehicle cameras, and whereinthe displayed video images comprise bird's-eye view video images of aregion exterior of the vehicle and of the trailer that includes an arearearward of the trailer hitched to the vehicle; wherein, via processingat the ECU of image data captured by at least the rear trailer cameraand at least one of the plurality of vehicle cameras, an instruction formaneuvering the vehicle and trailer in reverse toward a target locationis generated by the ECU; wherein the generated instruction includes atleast an instruction pertaining to steering of the vehicle during areversing maneuver; and wherein the vehicular trailer guidance systemdisplays zones of trailer angles, and wherein, during the reversingmaneuver of the vehicle and the trailer, the driver of the vehicle,viewing the displayed zones of trailer angles and the imagesrepresentative of the vehicle and the trailer, is aware of the trailerangle relative to the vehicle.
 22. The vehicular trailer guidance systemof claim 21, wherein the display screen displays an alert when thetrailer angle is approaching a jackknife zone.
 23. The vehicular trailerguidance system of claim 21, wherein the generated instruction comprisesan instruction for the driver of the vehicle to follow to guide thedriver of the vehicle during the reversing maneuver.